[lindberg87]

Is there anyone who can help me with a method to update the Z-height of a user frame during a program? I’m working with surface milling on plastic parts, which can vary in height, and to ensure a consistent milling depth, I’d like to be able to adjust the Z-height, similar to "zeroing" on a surface in a CNC mill.
I create the CAM program using RoboDK, where I import

Code:

uframe.cnd

into RoboDK. However, I’m unsure about whether the CAM program, once transferred to the Yaskawa robot, actually follows the user frame in the robot's interface or if it only adheres to the user frame defined in RoboDK. In other words, if I make changes to the user frame directly on the robot's controller, will the program created with RoboDK automatically update to reflect this adjustment? I haven’t been able to see the user frame in the DX200 pendant’s menu, so I’m uncertain about this.
Additionally, if enabling such functionality requires a paid option, should I contact Yaskawa to unlock it? Any insights or advice would be greatly appreciated!

Best Regards
Stig Lindberg.

[Borgis1]

I have a set Z height on on a userframe 2 in Yaskawa ( and defined the same in Robodk) ( actually I have several for different setups and tools clamped on the table with their own userframe). If I were doing anything else than welding in this machine, I would set it really accurate, but again. Within +- 1mm is good enough for welding.
However Whenever I put in a job like a plate of 20 mm or pipe to weld on, I only adjust the offset the number in the marked field . Red and green are for X Y offsets for doing the same.

[Albert]

RoboDK can set user frames from your program automatically. This is not used by default as all targets are calculated with respect to the robot base or turntable base. However, you can enable this option by switching the flag USE_MFRAME to True. This will output a set of points required to update your coordinate system.

You can find more information here:
https://robodk.com/post/Motoman

[lindberg87]

RoboDK can set user frames from your program automatically. This is not used by default as all targets are calculated with respect to the robot base or turntable base. However, you can enable this option by switching the flag USE_MFRAME to True. This will output a set of points required to update your coordinate system.

You can find more information here:
https://robodk.com/post/Motoman

I have tried to activate "Relative Job" in the Motoman Post Processor, but when it generates the code and I test it with Yaskawa JobeditDX200, I get a lot of errors. What could be the cause?

I posted pictures from my code.

[Albert]

Can you try removing the RJ flag from your program? Just those 3 characters (comma and RJ).

You may be able to load the Motoman JBI file without issues. Let us know if it works. If it works, we'll remove this flag that gives issues loading the program.

While the relative job is a paid option on the Motoman controller, I was told you should be able to load these programs without issues.